Abstract

Motivated by military applications, this work considers connected platoons of ground vehicles of potentially different sizes and presents a model-free approach for optimizing the speed of the platoon to adjust the tradeoff between fuel economy and mobility as measured by travel speed. The motivation to seek a model-free solution is twofold: (1) vehicle models that are typically assumed to be available in model-based methods are not available on-board for military vehicles; (2) a model-free solution can offer robustness to modeling errors. Therefore, in this paper, the problem of optimizing the tradeoff between fuel economy and mobility of a mixed platoon is formulated as an optimization problem and solved using the model-free Nelder-Mead approach. To explore the performance characteristics of this approach, a case study is performed with two different size vehicles that are representative of military trucks, both in simulation and in a novel networked engine-in-the-loop setup. The results show that the proposed approach can achieve the desired balance between fuel economy and mobility in a model-free manner despite the nonlinearity caused by gear shift deadzones, albeit at the expense of relatively slow convergence time. In addition, a design guideline for the parameters in the Nelder-Mead approach is also discussed.

摘要

受军事应用的启发，这项工作考虑了可能不同大小的地面车辆的连接排，并提出了一种无模型方法来优化排的速度，以调整燃油经济性和机动性之间的权衡，以行驶速度衡量。寻求无模型解决方案的动机有两个：（1）通常假设在基于模型的方法中可用的车辆模型不适用于军用车辆；(2) 无模型解决方案可以为建模错误提供稳健性。因此，在本文中，优化燃油经济性和混合排机动性之间的权衡问题被制定为优化问题，并使用无模型 Nelder-Mead 方法解决。为了探索这种方法的性能特点，使用两种不同尺寸的车辆进行案例研究，这些车辆代表军用卡车，在模拟和新型网络发动机在环设置中都进行了研究。结果表明，尽管换档死区造成非线性，但所提出的方法可以以无模型的方式实现燃油经济性和机动性之间的理想平衡，尽管代价是收敛时间相对较慢。此外，还讨论了 Nelder-Mead 方法中参数的设计指南。尽管以相对较慢的收敛时间为代价。此外，还讨论了 Nelder-Mead 方法中参数的设计指南。尽管以相对较慢的收敛时间为代价。此外，还讨论了 Nelder-Mead 方法中参数的设计指南。